Optical device for the automatic loading and unloading of containers onto vehicles

ABSTRACT

The invention relates to an automatic method for increasing the throughput of a container reloading point or a container storage space and for reducing the loading and unloading time for a container transport vehicle. According to said method, after the identification of a container transport vehicle, the loading platform of the transport vehicle that has been parked in the parking area of the container storage space is measured. The position co-ordinates of the loading platform are determined by a data processing system. The container to be loaded is then automatically positioned by means of a crane, using the position co-ordinates of the loading platform. To align the container exactly in relation to the loading platform, the latter is measured again and any deviation in relation to the position of the container thus obtained is used for said exact alignment. The container is deposited on the platform automatically. The unloading of a container transport vehicle involves practically identical steps.

The invention pertains to a method for reloading in a container storagespace for standard containers, with a stacker crane for the containersthat services the container storage space and can be controlled by a DPsystem for logistical management, which can travel between the storagelocation of each container and a loading platform of a containertransport vehicle that can drive into the region of the containerstorage space, wherein the stacker crane has a means of picking up thecontainer from the loading platform and/or setting it down onto theplatform, such as can be oriented with respect to the latter.

Container storage yards are required for short-term interim storage ofstandard containers, in order to enable the transfer of containers fromone means of transport to another. Means of container transport aregenerally large container ships, railroad cars, trucks, trailers, oralso AGVs (automated guided vehicles). At a container harbor, containerships are unloaded and the unloaded containers are temporarily kept inthe container yard until further transport is possible. Vice versa, thecontainers are assembled and kept temporarily in a container yard of aharbor in order to be loaded subsequently onto a container ship. Theland transport occurs by truck, trailer, railroad car or AGV, and in thepresent application the land transport is furnished by special trucks.

The large number of containers handled at a container yard requires fastand accurate loading and unloading of the means of transportation. Astacker crane transports the container from the container yard to thetransport vehicle and vice versa. The stacker crane can be an automaticcontainer stacker crane (ACS), or also a gantry crane or a one-leggedgantry crane. Thus far, the placement of the container onto a means oftransport by the stacker crane has been manually controlled. The stackercrane consists of a bridge and a trolley which can travel on it, whilethe bridge can travel on rails. The placing of the container suspendedfrom the crane onto a transport vehicle is manually controlled by anoperator. For the loading, an operator present in the parking positiondrives the container by means of the stacker crane into the vicinity ofthe transport vehicle, and then by slow “approach” he positions thecontainer exactly on the transport vehicle. The approach involvesrepeated left/right and forward/backward moving of the ACS, as well asthe lowering of the container, controlled and monitored by the operatoron site. Likewise, when unloading the transport vehicle, the stackercrane is slowly brought up to the container manually by an operator, sothat the crane can pick it up.

The large number of containers handled within a container yardnecessitates a smooth, error-free, speedy, economical and long-lastingwork process. In addition, it is desirable to increase the throughput ofcontainers, i.e., the number of containers handled per unit of time.This will reduce the parking time for containers inside the containeryard, the layover time for container ships, and the stopping time forthe land transport vehicles. At the same time, this implies a shorteningof the length of transport for the containers.

From European patent application EP 1 043 262 A1 there is already knowna method for handling of standard containers at a container yard. Thiscontainer yard has a controllable stacker crane for the containers,which can travel between a storage position for the container and atransport vehicle with a loading platform for the container. The stackercrane is provided with a means of picking up the load in order to setthe container down on the loading platform or pick it up from theplatform, such as can be oriented with respect to the container and theloading platform. The stacker crane also has a horizontally moveabletrolley with a lifting mechanism, from which is suspended the means ofpicking up the container. On this load suspension device is arranged asensor in the form of a video camera system, so as to automaticallyplace the load suspension device on the container or pick up thecontainer from the loading platform. Furthermore, a second sensor alsoin the form of a video camera system is fastened to the load suspensiondevice, in order to adjust the stacker crane. The reference point forthis is a wall with optical elements, which is arranged in the region ofthe parking place of the transport vehicle.

Furthermore, there is also already known from the international patentapplication WO 01/81233 A1 a system for orienting a load suspensiondevice for containers. The load suspension device, designed as aspreader, has a CCD camera in the region of its twist locks forfastening the spreader to the corner points of a container. Thanks tothe video signal obtained from the camera, an operator can thus set thisspreader down in true position on a container in relation to its supportpoints. This system can also work automatically in conjunction with a DPsystem.

The underlying problem of the invention is to achieve a high throughputof containers within a container yard, to lower the costs and to reducethe down time in case of defects, while at the same time boosting theeconomy of the container handling yard.

This problem is solved according to the invention by the indicatedmethod for loading of transport vehicles with standard containers perclaim 1, by the indicated method for unloading of transport vehicleswith standard containers per claim 2, and by the indicated methods foradjusting the position of a stacker crane according to claims 17 and 19.

One benefit of the invention is the quick and flawless handling of theloading and unloading process of transport vehicles, made possible byautomation. In the present application, the constantly recurringidentical loading and unloading sequences are broken down into worksteps and each of them is automated. The sequence of individualautomated work steps with no interruption in time, such as require ashorter time to accomplish than the manual steps, and the mistake-freeprocessing achieve a beneficial shortening of the time of the loadingand unloading process and thus also boost the throughput of thecontainers handled.

The loading of a transport vehicle with a container occurs by thestepwise working of steps a) through f) of claim 1. Carrying out thework steps results in a shortening of the loading time of transportvehicles for standard containers, resulting in boosted throughput of thecontainer handling yard. The resulting profitable time savings of theloading process comes from the individual savings accomplished byautomating the work steps. At the same time, the number of mistakesituations is reduced, which likewise has profitable impact on thethroughput.

The unloading of the transport vehicle loaded with a container isdescribed by the sequential working of steps a) through f) of claim 2.The carrying out of the work steps produces a shortening of theunloading time of transport vehicles for standard containers, leading toan increased throughput of the container handling yard. The resultingprofitable time savings of the unloading process consists of theindividual savings achieved by automating the work steps. At the sametime, the number of mistake situations is reduced, which likewise hasprofitable impact on the throughput.

It is advantageous that the transport vehicle and possibly the containerbeing unloaded are identified and the thus-generated data aretransmitted to the DP system of the logistical management. At the sametime, the DP system of the logistical management generates a loadingorder or unloading order for the stacker crane. This loading ordercontains the job for the stacker crane to pick up the container beingloaded in the container yard and put it down on the loading platform ofthe transport vehicle, so as to load the transport vehicle in this way.This unloading order contains the job for the stacker crane to pick upthe container being unloaded from the transport vehicle and store it inthe container yard. The time advantage created by having parallel worksteps contributes to shorten the duration of the loading process, asdoes the fewer mistakes when detecting and transmitting the vehicledata.

Furthermore, it is beneficial that identification points defined bymeans of a calibrated camera system on the loading platform of thetransport vehicle or the container and their coordinates are transmittedto the DP system of the logistical management. From the identificationpoints, the DP system determines the coordinates of the means offastening of the transport vehicle or of the container being unloaded(the corresponding system of coordinates describes at least a spacereached by the fastening means of the load suspension device of thestacker crane). This method enables a quick and error-free detection ofthe position of the fastening means for the container or that of thecontainer itself, contributing to reduce the loading time for atransport vehicle.

It is especially advantageous for the DP system of the logisticalmanagement to compare the coordinates of the identification points withdata about the container being loaded, which is stored in the DP system,and determine the fastening means being assigned to this container andthe position coordinates on the loading platform of the transportvehicle. The coordinates stored in the DP system as to the size of thecontainer can be compared in good time with the coordinates determinedfor the fastening means of the transport vehicle. If the size of theloading platform of the transport vehicle is sufficient for thecontainer being loaded, the fastening means of the transport vehicle tobe assigned will be determined. In the event that the loading platformof the transport vehicle is not large enough for the container beingloaded, a premature termination of the loading process/loading order canoccur, or the time-intensive picking up of the container from thecontainer yard by the stacker crane can be prevented in good time, whichrepresents a considerable time savings.

After the successful detecting of the coordinates of the fasteningmeans, the loading process can begin at once for the transport vehiclelocated in the parking position. For this, the stacker crane travelsunder computer control with the container being loaded above the loadingplatform of the transport vehicle, overlapping it exactly, and above theposition coordinates. The immediate and exact positioning of the stackercrane above the transport vehicle reduces the duration of the loadingprocess thanks to elimination of the manual “approach”.

It is especially advantageous for the DP system of the logisticalmanagement to determine the fastening means and position coordinates ofthe container from the identification points. This enables a quick anderror-free calculation of the position coordinates, for the immediatestarting of the unloading order for the transport vehicle.

For this, the stacker crane travels under computer control above thecontainer, overlapping it exactly, and above the position coordinates.The immediate and exact positioning of the load suspension device abovethe container being unloaded reduces the time of the unloading processby eliminating the manual “approach”.

The fastening means of the loading platform or of the container aredetected by means of a calibrated camera system mounted on the stackercrane, and the load suspension device or the container is moved so thatthe fastening means of the container or of the load suspension devicestands congruently above the assigned fastening means of the loadingplatform or of the container. This enables a rapid, error-free, andcorrect orientation of the container with respect to the loadingplatform or that of the load suspension device with respect to thecontainer. In contrast with the previous method, the time-intense“approach” of the container or the load suspension device by an operatorpresent in the parking position is eliminated. It is advantageous thatthe visual monitoring can thus occur from a remote operator, who watchesthe picture of at least one camera. Likewise, the uninterrupted sequenceof the individual process steps helps reduce the loading time.

Thanks to the exact orientation of the container with respect to theloading platform, the container can be put down on the loading platformof the transport vehicle in such a way that the fastening means of thecontainer mate with the corresponding fastening means of the loadingplatform at the end of the lowering process. The disadvantageous“approach” of the load suspension device with the container, guided byan operator present on site, is eliminated and thus produces abeneficial time savings. The container is deposited by the loadsuspension device on the transport vehicle and released. The loading jobof the stacker crane is finished.

Thanks to the fast and exact orienting of the fastening means of theload suspension device with respect to the container, the loadsuspension device can be brought up to the container in such a way thatthe fastening means of the load suspension device mate with thefastening means of the container. The disadvantageous “approaching” ofthe load suspension device to the container, guided by an operator, iseliminated and thus produces an advantageous time savings. The containeris removed from the transport vehicle and can be unloaded by the loadsuspension device, which then stores it temporarily in the containeryard. The unloading job of the stacker crane is thus finished.

It is especially profitable that an operator does not have to be on sitebefore, during and after the loading or unloading process. Thus, anoperator is available for other activities.

It is especially advantageous that the transport vehicle and possiblythe container being unloaded are identified by means of a camera system.By elimination of visual and manual identification, the resulting dataare transmitted faster and free of error to the DP system of thelogistical management.

For detection of the coordinates of the identification points of theloading platform or of the container, an operator supported by auser-defined interface on a monitor screen of the DP system of thelogistical management uses a marking mechanism to select theidentification points of the loading platform or of the container on theuser-defined interface. The user-defined interface shows the image ofthe camera system. An operator who selects the identification points ofthe loading platform or of the container of the transport vehicle orcontainer represented on the user-defined interface with the markingmechanism, contributes to the error-free detection and quick calculationof the coordinates of the fastening means of the loading platform of thetransport vehicle.

Another automation which reduces the loading time or unloading time canbe accomplished in that the coordinates of the identification points ofthe loading platform or of the container are automatically detected by acomputer system and transmitted to the logistical management.

The process step described in claims 1 and 2 for determination of theposition coordinates can be implemented in two different ways. First, itis advantageous to detect the coordinates of the loading platform or ofthe container of the transport vehicle in the loading and unloadingzone. At this time, the transport vehicle is already identified and theassigned container is likewise known by virtue of the loading order.This allows the DP system of the logistical management to recognizeearly on whether the transport vehicle is suitable to accommodate thecontainer being loaded. If the fastening means of the loading platformof a transport vehicle are successfully assigned, the loading processwill continue; otherwise, the loading process, if already started, willbe interrupted.

In the event that the detection of the coordinates of the loadingplatform of the transport vehicle occurs in the final loading andunloading zone, the position coordinates described by the verticalposition of the loading platform or the upper edge of the identificationpoints of the container and by the intersection of the diagonals of theidentification points of the loading platform, are the absolute targetposition of the container. The arrangement is thus extremely adroit andenables a quick and thus time-saving positioning of the automaticstacker crane with the container or without, above the loading platformbeing loaded or above the container being unloaded.

Equally advantageous is the other embodiment of the invention of theprocess step described in claim 1 for determining the positioncoordinates. The detection of the coordinates of the loading platform ofthe transport vehicle or of the container in this case occurs in theidentification zone. This allows the DP system of the logisticalmanagement to recognize early on whether the transport vehicle issuitable to accommodate the container being loaded. Once the fasteningmeans of the loading platform of the transport vehicle are successfullyassigned, the loading process will continue; otherwise, the loadingprocess, if already started, will be interrupted.

Since the detection of the coordinates of the loading platform of thetransport vehicle occurs in the identification zone, the coordinatesdetected for the loading platform refer to the transport vehicle. Thus,the vertical position of the loading platform and the intersection ofthe diagonals of the identification points of the loading platformdescribe the relative target position of the container.

The position coordinate of the container is described by the verticalposition of the upper edge of the identification points of the containerand by the intersection of the diagonals of the identification points ofthe container, which describes the relative target position of thecontainer. By selecting the upper edge of the identification points(fastening means) of the container as an element of the positioncoordinate, one can also unload standard containers not having a cover,such as open-top containers, tank containers and/or flat containers.Thus, the favorable choice of the position coordinate enables an adroitand thus time-saving positioning of the automatic stacker crane abovethe container being unloaded.

The coordinates of the loading platform or of the container that aredetected in the identification zone refer to the transport vehicle andconsequently describe the relative target position of the container orof the load suspension device. Advantageously, the position coordinateis described by the absolute target position of the container or theload suspension device, which is composed of the coordinates determinedby means of a camera for the transport vehicle located in the parkingposition and the relative target position of the container or of theload suspension device. The coordinates already detected in theidentification zone are linked to the position of the transport vehicleidentified in the parking position by the DP system of the logisticalmanagement. The result of this linkage is the position coordinate, whichis the absolute target position of the container or of the loadsuspension device. This enables an adroit and thus time-savingpositioning of the automatic stacker crane with the container above theloading platform being loaded or the container being unloaded, as isdescribed hereafter.

Regardless of where the detection of the coordinates occurs, a wrongposition of one or more fastening means will be evident on theuser-defined interface of the DP system. The operator recognizes thewrong positions and consequently notifies the driver of the transportmeans. He will correct any wrong positions of the fastening means ingood time.

Regardless of the way chosen to detect the coordinates, the advantageouschoice of the position coordinate will enable the load suspension deviceto move the container or the load suspension device into the range ofthe loading platform or of the container, so that the intersection ofthe diagonals of the fastening means of the container or of the loadsuspension device stands congruent and plumb above the intersection ofthe diagonals of the fastening means of the loading platform or of thecontainer. The container or the load suspension device hanging from thestacker crane is thus situated in the middle above the loading platformor the container and must consequently be oriented in the possibly nextwork step by a rotary movement of the container hanging from the loadsuspension device or of the load suspension device. For this, thestacker crane need not travel any further, i.e., the bridge of an ACSand the trolley moving on it have already reached their exact finalloading position. In advantageous manner, the stepwise approach of theload suspension device, guided by an operator, is eliminated. Thisprocedure enormously simplifies the positioning of the load suspensiondevice or the stacker crane and thus contributes to an extremely largereduction in the required loading time or unloading time.

The simple watching of the loading process or unloading process by anoperator is granted by a second user-defined interface with fourquadrants, each of them representing a pair of fastening means, whileeach pair consists of a fastening means of the loading platform orcontainer, projected by an image from the camera system, and theassociated fastening means of the container or load suspension device,projected by a superimposing of a computer-calculated contour of thecontainer or the load suspension device and of the fastening means ontothe image. Thus, the operator comfortably watches the loading process orunloading process, without having to be present at the parking position.

It is an exceptional benefit of the present invention that any deviationbetween the position of the container being loaded or the loadsuspension device and the position of the loading platform or thecontainer being unloaded can be determined in the DP system of thelogistical management for a fine-tuned positioning, in that the seconduser-defined interface of the logistical management has a markingmechanism with which the operator selects at least one identificationpoint of the loading platform or of the container. The thus-determinedexact orientation of the loading platform or of the container is neededto orient the container with respect to the loading platform or the loadsuspension device. A deviation of the orientations recognized by the DPsystem of the logistical management results, during the next step of thework sequence, in a correcting of the position of the container or theload suspension device. The simple detecting of the position of theloading platform or container, the direct availability of the data inthe DP system of the logistical management, and the excluding of errorsfrom the data result in an exceptional time savings.

Just as advantageous is the configuring of the invention so that anydeviation in position of the container being loaded or the loadsuspension device with respect to the position of the loading platformor the container being unloaded is automatically recognized by acomputer system for fine positioning.

When a deviation exists in the position of the container being loaded orthe load suspension device with respect to the position of the loadingplatform or the container being unloaded, the container or the loadsuspension device is turned so that the fastening means of the containeror of the load suspension device stand congruently and plumb above thefastening means of the loading platform or container. Such a fast andcorrect orienting of the container with respect to the loading platformor that of the load suspension device with respect to the containeroccurs automatically, based on the computed deviation. It is unusuallyadvantageous that a tilting of the transport vehicle in its lengthwiseand/or transverse direction, caused for example by uneven ground, doesnot have harmful impact on the loading process. The stepwise approach ofthe load suspension device with or without the container relative to theloading platform or the container is eliminated, which produces anexceptional reduction in the time required for the loading or unloadingof a transport vehicle.

The swift setting down and releasing of the container from the loadsuspension device or the swift approach of the load suspension device topick up the container and the locking together of the fastening means isguided by an operator or automatically by a computer system. Since thecontainer or the load suspension device is exactly located above theloading platform or the container and is correctly oriented, and the DPsystem has determined the vertical position of the loading platform orthe container, an immediate and continuous motion for depositing thecontainer or the load suspension device can be carried out, and it canbe concluded sooner than the manual “approach”. The locking together ofthe fastening means of the container and those in the loading platformcompletes the deposit of the container. After the load suspension deviceis no longer loaded with the container, which is indicated by thetriggering of pressure sensors, the container can be released from theload suspension device and fastened to the transport vehicle. Thelocking together of the fastening means of the load suspension deviceand those in the container completes the picking up of the container.The container is fastened to the load suspension device and the stackercrane places it in the container yard for temporary storage. Thus, theunloading job order is complete.

The continuous sequence of process steps enables a fast loading andunloading of a transport vehicle. The time saved in this way isavailable for other loading or unloading processes. Consequently, thethroughput of containers handled in a container yard can be increased,which represents an efficiency boosting and likewise a reduction in thetransport time of the transported freight.

Furthermore, it is advantageous that an adjustment of a stacker crane ispossible at any time and with little expense by using the methoddescribed in claim 16. It should be kept in mind that geometricaldeviations in a camera provided for use on the stacker crane can beproduced by structural part tolerances, manufacturing tolerances,irregularities in the lens and/or optical errors, and can becircumvented by a calibration done prior to use of the camera. Duringoperations, the image from a camera used on the stacker crane iscontinuously corrected by means of a correction algorithm obtained fromthe calibration. Thus, the correction algorithm specific to the camerais applied to each image of a camera by the DP system of the logisticalmanagement. Consequently, each camera used has identical opticalproperties if its corresponding correction algorithm is applied. Inaddition, the preliminary calibration allows the DP system of thelogistical management to remotely measure the familiar objects beingviewed, in accordance with the laws of optics.

By using this calibrated camera, a further adjustment of the position ofthe stacker crane can now be carried out. Per claim 16, the stackercrane first moves over a reference point situated at any given positionwithin the container yard, so that at least one camera of the camerasystem catches the reference point. The DP system of the logisticalmanagement compares the new position of the reference point, calculatedfrom the camera image, with its known position of the reference pointand, if any deviation is present, it determines an offset for thestacker crane. Under the assumption that the reference point in generaldoes not shift, a correction can be made in the position coordinate ofthe stacker crane by the DP system of the logistical management addingthe offset to the calculated position data of the stacker crane. This isespecially profitable in the case of a length change in the runningrails of the automatic container stacker (ACS) crane, which is anexpansion of length in summer and a contraction of the running rails inwinter due to the temperature. Since the DP system of the logisticalmanagement determines the position in terms of an absolute lengthmeasurement of the distance traveled by the stacker crane, thetemperature-sensitive arrangements and positions that the stacker craneactually travels can be displaced from the position calculated by the DPsystem of the logistical management. Thus, in advantageous manner, it ispossible to correct an erroneous calculation of the position of thestacker crane caused by these factors of influence. What is especiallyadvantageous in this case is that the stacker crane can be quicklyadjusted as often as desired and at any given time.

It is especially advantageous to arrange several reference points withinthe container yard. After the stacker crane has placed itself above oneof these reference points, the DP system of the logistical managementcan compare the position of the reference point already known to it withthe new position calculated from a camera image, and calculate anyoffset for the stacker crane associated with the reference point. In theevent that several reference points are located along the linear path ofthe stacker crane and one of the offsets of these reference pointsdetermined in a narrow time domain has a nonsystematic deviation, thisindicates ground shifting in the vicinity of the affected referencepoint, which is afterwards introduced into the calculations forpositioning of the stacker crane by the DP system of the logisticalmanagement as a correction. In this way, one can avoid any wronginterpretations of length expansions.

It is especially advantageous for the container yard to have asuper-reference point, with which each camera on the stacker crane canbe adjusted relative to it. Replacing a camera mounted on the stackercrane due to a technical defect, etc., requires the onetime adjustmentof a newly installed camera on the stacker crane. By using thesuper-reference point, the DP system of the logistical management candetermine a correction vector and assign it to a new camera mounted onthe stacker crane. The repair and adjustment time and thus the down timeof the stacker crane are profitably shortened. The super-reference pointis advantageously situated at one position in the container yard that isindependent of outside influences of the above described kind. Thestacker crane travels with the newly installed and already calibratedcamera above the super-reference point so that the newly installedcamera detects it. The DP system determines the position of thesuper-reference point and compares the data thus obtained with thealready stored data about the super-reference point. If there is anydeviation in the data, a correction vector will be assigned to the newlyinstalled camera, and it will be used during each position computationdone on the basis of this camera. The timesaving achieved due to theswift adjustment of the newly installed camera on the stacker crane canbe used profitably for loading and unloading processes.

DESCRIPTION OF FIGURES

FIG. 1 overview of a container handling yard,

FIG. 2 identification zone for detection of transport vehicles,

FIG. 3 section of a container handling yard, container storage space andparking position,

FIG. 4 side view of the area shown in FIG. 3,

FIG. 5 representation of the viewing angle of the camera placed in theparking position,

FIG. 6 first user-defined interface,

FIG. 7 representation of the viewing angle of the camera arranged on theside of the automatic container crane,

FIG. 8 representation of the viewing angle of the camera arranged on theside of the automatic container crane,

FIG. 9 second user-defined interface, during a loading process,

FIG. 10 user-defined interface at the end of a loading process,

FIG. 11 another embodiment of an identification point,

FIG. 12 another section of a container handling yard, container storagespace and parking position,

FIG. 13 another representation of the viewing angle of the cameraarranged in the parking position,

FIG. 14 representation of the arrangement of a reference point.

FIG. 1 shows an automated container terminal 24 for containers 1, wheretrucks 7 (FIG. 2) are loaded and unloaded at the land side. In anidentification zone 25, arriving and departing trucks 7 are identifiedand/or surveyed. An arriving truck 7 is identified and the data thusgenerated, which are required for the loading and unloading, aretransmitted to the DP system (not shown) for logistical management.After this, the truck 7 moves to the loading or unloading zone 6 byroadways 26.

FIG. 2 shows the cameras 27 arranged in the identification zone 25,which are used to detect the truck 7 from all sides. The license number28 of the truck 7 and possibly the license number 29 of the trailer 7.1are automatically detected by the cameras 27. Likewise, theidentification number 30 of the container 1 will also be detected in thecase of loaded trucks 7. All information regarding the truck 7, thetrailer 7.1, and possibly the container 1 will be transmitted to the DPsystem of the logical management and be available in the system at alltimes and can be called up by an operator (not shown).

In the automatic container storage space 2, as depicted in FIGS. 3 and4, the containers 1 are kept in stacks. The automatic stacker crane 3consists of a mobile trolley 3.2, which can travel on a bridge 3.1,while the bridge 3.1 can travel on the crane track 4. During the loadingprocess, the container 1 is rigidly connected to the moveable mast 3.3of the moveable trolley 3.2. On the mast 3.3 is situated the loadsuspension device 3.4 of the stacker crane 3, which accommodates thecontainer. The automatic stacker crane 3 is coupled to the DP system ofthe logistical management and can thus reach every possible coordinatewithin the travel zone at any time. The coordinate system (not shown)describes a space which is reached by the load suspension device 3.4 ofthe automatic traveling stacker crane 3. In place of an ACS, one canalso use gantry cranes or one-legged gantry cranes.

The automatic container storage space 2 is bounded off from the loadingand unloading zone 6 by a border 5, which can be a fence or a wall. Inthe loading and unloading zone 6, the trucks 7 are each positioned in aparking position 8. FIGS. 3 and 4 show trucks 7 that have been backedinto a parking position 8, which was assigned to them. The parkingpositions 8 have concrete gutters 8.1 at the sides, which facilitate thebacking in of the trucks 7 when parking, since the wheels 9 of the truck7 are guided in this way. The parking process is completed when thetruck 7 backs up and its wheels 9 strike against the cross struts 8.2bounding the parking position 8.

Each parking position 8 is outfitted with a fixed and calibrated camerasystem 10, which is located above the boundary 5 (FIG. 5). The viewingangle 11 of the camera 10 is chosen so that all loading platforms 31 ofthe truck 7 and any containers 1 located thereupon are completelydetected. Thanks to this viewing angle 11 of the camera 10, an operatorat a monitor 12 (FIG. 6) can observe the parking process.

FIG. 6 shows the monitor 12 with the image of the camera 10, by whichthe operator can observe and control the parking process of the truck 7and the loading and unloading process. For the loading of the truck 7 inthe parking position 8, the position of the loading platform 31 of thetruck 7 has to be measured. For this, a marking mechanism such as acrosshair 14 is superimposed on the image of the camera 10, with whichthe operator can select identification points. These identificationpoints are the fastening means of the loading platform 31 of the truck7, the so-called twist locks 13. The coordinates of the twist locks 13are transmitted to the DP system of the logistical management in orderto calculate the position coordinate of the loading platform 31. The DPsystem of the logistical management calculates the diagonals 16 of thetwist locks 13 and their point of intersection 17. The intersection 17describes the vertical position 15 of the loading platform in the systemof coordinates. This computation is made possible by a previouscalibration of the fixed installed camera 10, whose exact position andviewing direction is known.

The container 1 located on the rigid mast 3.3 of the stacker crane 3, asdepicted in FIG. 7, is positioned above the loading platform 31 of thetruck 7 so that the point of intersection of the diagonals of thefastening means of the container 1 stands congruently and plumb abovethe point of intersection 17 of the diagonals 16 of the fastening meansof the loading platform 31 of the truck 7. Thanks to the cameras 18arranged on the stacker crane 3 and thanks to the chosen type ofpositioning of the container 1 being loaded above the loading platform31, the viewing angle 19 of the camera 18 can be restricted, as depictedin FIG. 8. Due to the different container sizes of 20 ft., 30 ft., 40ft. to 45 ft., two viewing angles 19.1 and 19.2 are required left andright, disregarding the middle zone of the container 1. In terms of thecoordinates of the point of intersection 17 of the diagonals 16 of theloading platform 31, a viewing range of the camera system 42.1 from −7 mto −3 m and a viewing range of the camera system 42.2 from +3 m to +7 mis necessary. Only in these areas are there twist locks 13 of theloading platform 31 adapted to the container 1.

FIG. 9 shows the four-part user-defined interface 20 of the DP system ofthe logistical management. Each quadrant shows one image segment, whichis generated by at least one of the cameras 18 arranged on the side ofthe stacker crane 3. For redundancy reasons and reliabilityconsiderations, the four image segments can be generated from the imageof a camera, or also from two images of two cameras arranged at theside. It is likewise possible to implement a solution that provides onecamera for each image segment. Each image segment shows the fasteningmeans, the twist locks 13 of the loading platform 31. The operator canrecognize a wrong position for the twist locks 22 and then use anintercom system to ask the driver of the truck 7 to correct this wrongposition. The computer-calculated contours of the container 23 aresuperimposed on the image, showing the operator the actual position ofthe container 1. The orientation of the container 1 with respect to theloading platform 31 is accomplished by the operator using a markingmechanism, such as a crosshair 24, to once again select the fasteningmeans or twist locks 13 of the loading platform 31. The coordinates ofthe fastening means of the loading platform 31 are once againtransmitted to the DP system of the logistical management. The actualorientation of the loading platform 31 is calculated from this. Anydeviation between the orientation of the container 1 and the orientationof the loading platform 31 is determined by the DP system of thelogistical management and the container 1 is rotated on the mast 3.3 bymeans of the load suspension device 3.4 so that all fastening means ofthe container 1 stand congruently and plumb above the fastening means ofthe loading platform 31.

During the lowering process, the computer-calculated contour 23 of thecontainer is newly calculated at any time and superimposed on the imagefrozen at the start of the lowering process, as represented in FIG. 10.At the end of the lowering process, the fastening means of the container1 engage with the fastening means of the loading platform 31 of thetruck 7. The operator watches and controls the loading process on themonitor as the container 1 is set down.

Another method for detecting the identification points of the loadingplatform 31 of a truck 7 or the identification points of a container 1is shown by FIGS. 11 to 13. The known process steps of the previouslydescribed process are rearranged here.

FIG. 11 shows a modified identification zone 25, in which the arrivingtruck 7 including a possibly present container 1 is identified. Theidentification of the truck 7 involves the recognition of the licenseplate 28, 29 of the transport vehicles and the identification number 30of the possibly present container 1 by means of the cameras 27 arrangedat the identification zone 25, which are connected to the DP system ofthe logistical management and transmit the so-generated data to it. Inaddition to the work step described in FIG. 2, the possibly presentcontainer 1 and/or the empty loading platform 31 of the truck 7 are thenmeasured. The truck 7 is detected from the side 32 and from above (topview) 33 by means of the camera 27. The detection of the identificationpoints of the loading platform 31 (or container 1) as described in FIG.6 does not occur in the loading and unloading zone 6, contrary to FIG.6, but rather in the identification zone 25. The course of the detectionof the identification points remains identical. At the same time, thereis an automatic measuring of the height 34, 35 of the fastening meansbeing used by the camera 27. The coordinates found are transmitted tothe DP system, and these represent the relative target position of thecontainer being unloaded, since they pertain only to the truck 7. Thedriver of the truck 7, after a successful identification and measurementof the truck 7, receives an access authorization in the form of amagnetic card or chip card (not shown). The magnetic card also containsall relevant data concerning the handling order.

The driver drives the truck 7 to a loading and unloading zone 6 assignedto him (FIG. 12) and backs his transport vehicle up into any desiredparking position 8 within the loading and unloading zone 6. During theparking process, as represented in FIG. 13, an object recognition isstarted in the DP system of the logistical management by means of acamera 36 arranged in the parking position 8, which identifies the truck7 and also classifies it geometrically in the system of coordinates, notrepresented. The information from the camera 36 arranged at the border 5allows the DP system of the logistical management to exactly recognizethe truck 7 in terms of its identity and position: its distance 37 fromthe border 5, a left/right offset within the parking position 8 andangle of twist of the truck 7 relative to the ground 38. Thus, aftercompleting the parking process, the exact position of the truck 7 isknown to the DP system of the logistical management.

From these coordinates, and in conjunction with the relative targetposition of the container 1, the DP system of the logistical managementcan determine the position coordinate for the container 1 being loaded,which represents the absolute target coordinate for the container beingloaded.

Next, the driver of the truck 7 goes to a reporting space 39, in orderto signal with the magnetic card his readiness for loading or unloadingof the truck 7. The DP system checks the data on the magnetic cardagainst the data obtained from the parking position 8 of the truck andif they agree it, generates an order for the stacker crane 3. Thestacker crane 3 picks up the container 1 to be loaded from the containerstorage space 2 and begins the loading of the truck 7 in accordance withthe method described as of FIG. 7.

Furthermore, FIG. 12 shows a tolerance range 40. Within each parkingposition 8, the load suspension device 3.4 of the stacker crane 3 canonly travel within this special tolerance range 40, for safety reasons.

FIG. 14 shows a container yard 2 with a reference point 41.

1. Method for load transfer in a container storage space for standardcontainers, with a stacker crane for the containers servicing thecontainer storage space, controllable by a logistical management dataprocessing (DP) system, wherein the stacker crane can travel between astorage place for each container and a loading platform of a transportvehicle of a container that can travel in the area of the containerstorage space, wherein the stacker crane has a load suspension devicefor depositing the container on the loading platform, which can beoriented with respect to it, the method of loading the transport vehiclecomprising: a) identifying the transport vehicle and transferring thedata generated in this way to the logistical management DP system, b)providing a calibrated camera system, detecting defined identificationpoints on the loading platform of the transport vehicle with said camerasystem and transferring coordinates of the identification points to thelogistical management DP system, c) comparing with the logisticalmanagement DP system the coordinates of the identification pointsagainst the data of the container being loaded as stored in the DPsystem and determining the fastener to be assigned to this container andposition coordinates on the loading platform of the transport vehicle,d) driving the stacker crane under computer control with the containerto be loaded above the loading platform of the transport vehicle, abovethe position coordinate, wherein the position coordinate is defined bythe vertical position of the loading platform and by the point ofintersection of the diagonals of the identification points of theloading platform, wherein the position coordinate describes the targetposition of the container, e) providing a calibrated camera systemarranged on the trolley of the stacker crane, detecting the fastener ofthe loading platform and selectively moving the container so that thefastener of the container is positioned above the coordinated fastenerof the loading platform, f) setting down the container on the loadingplatform of the transport vehicle such that the fastener of thecontainer and the coordinated fastener of the loading platform matetogether at the end of the setdown process.
 2. Method for load transferin a container storage space for standard containers, with a stackercrane for the containers servicing the container storage space,controllable by a logistical management data processing (DP) system,wherein the stacker crane can travel between a storage place for eachcontainer and a loading platform of a transport vehicle of a containerthat can travel in the area of the container storage space, wherein thestacker crane has a load suspension device for picking the container upfrom the loading platform, which can be oriented with respect to it, themethod of unloading of a transport vehicle comprising: a) identifyingthe transport vehicle and the container being unloaded and transferringthe data generated in this way to the logistical management DP system,b) providing a calibrated camera system, detecting definedidentification points of the container with said camera system andtransferring coordinates of the identification points to the logisticalmanagement DP system, c) determining with the logistical management DPsystem, from the identification points, the fastener and positioncoordinate of the container, d) driving the stacker crane under computercontrol above the container, above the position coordinate, while theposition coordinate is described by the vertical position of the upperedge of the identification points of the container and by the point ofintersection of the diagonals of the identification points of thecontainer, which describes the absolute target position of the loadsuspension device, e) providing a calibrated camera system arranged onthe trolley of the stacker crane, detecting the fastener of the loadingplatform of the container and selectively moving the load suspensiondevice so that the fastener of the load suspension device of the stackercrane stands above the coordinated fastening fastener of the container,f) bringing the load suspension means up to the container such that thefastener of the load suspension means and the fastener of the containermate together.
 3. Method according to claim 2, wherein the transportvehicle or the container being unloaded is identified by means of acamera system.
 4. Method according to claim 3, wherein said detectingthe coordinates of the identification points of the loading platform orthe identification points of the container comprises providing auser-defined interface on a monitor screen of the logistical managementDP system, and selecting by an operator of the identification points ofthe loading platform or the identification points of the container witha marking mechanism on the user-defined interface.
 5. Method accordingto claim 4, including automatically detecting the coordinates of theidentification points of the loading platform or the identificationpoints of the container by a computer system and transferring thecoordinates to the logistical management DP system.
 6. Method accordingto claim 5, wherein said automatically detecting of the coordinates ofthe loading platform of the transport vehicle occurs in its loading andunloading zone and that of the coordinates of the loading platform ofthe container occurs in its loading and unloading zone.
 7. Methodaccording to claim 6, wherein the automatically detecting of thecoordinates of the loading platform of the transport vehicle or thecoordinates of the container occurs in the identification zone. 8.Method according to claim 7, wherein the vertical position of theloading platform and the point of intersection of the diagonals of theidentification points of the loading platform or the vertical positionof the upper edge of the identification points of the container and thepoint of intersection of the diagonals of the identification points ofthe container describe the relative target position of the container. 9.Method according to claim 8, wherein the position coordinate isdescribed by the absolute target position of the container or of theload suspension device, which is composed of the coordinates of thetransport vehicle located in the parking position as detected by meansof a camera and the relative target position of the container or of theload suspension device.
 10. Method according to claim 9, includingmoving the stacker crane into reach of the loading platform or of thecontainer in such a way that the point of intersection of the diagonalsof the fastener of the container or the load suspension device standsplumb above the point of intersection of the diagonals of the fastenerof the loading platform or the container.
 11. Method according to claim10, including providing a second user-defined interface, said seconduser defined interface having four quadrants, each representing a pairof fasteners, and each pair consists of one fastener of the loadingplatform or of the container, projected by an image of the camerasystem, and of the coordinated fastener of the container or the loadsuspension device, projected by a superimposing of a computer-calculatedcontour of the container or of the load suspension means and of thefastener of the container or of the load suspension means onto theimage.
 12. Method according to claim 11, including determining anydeviation in position of the container being loaded from the position ofthe loading platform or the position of the load suspension device fromthe position of the container being unloaded in the logisticalmanagement DP system for a fine-tuned positioning, by providing thesecond user-defined interface of logistical management with a secondmarking mechanism, wherein the operator selects at least oneidentification point of the loading platform or of the container withsaid second marking mechanism.
 13. Method according to claim 12,including providing a fine positioning computer system and automaticallyrecognizing any deviation in position of the container being loaded fromthe position of the loading platform or in the position of the loadsuspension device from the position of the container being unloaded withsaid fine positioning computer system.
 14. Method according to claim 13,wherein a deviation in position of the container being loaded from theposition of the loading platform of the container or in the position ofthe load suspension device from the container being unloaded, the loadsuspension device is rotated so that the fastener of the containerstands plumb above the fastener of the loading platform, or the fastenerof the load suspension device stands plumb above the fastener of thecontainer.
 15. Method according to claim 14, including setting down andreleasing of the container from the load suspension device or thesetting down of the load suspension device of the stacker crane onto thecontainer by the operator until the fasteners mate with each other. 16.Method according to claim 15, including adjusting the position of astacker crane in a container storage space, said adjusting the positioncomprising providing a camera system having at least one calibratedcamera fastened on the trolley of the stacker crane for detection of theposition of containers being handled, with an absolute length measuringsystem to detect the position of the stacker crane, positioning thestacker crane travels above a reference point arranged at any givenposition within the container yard, so that said at least one calibratedcamera of the camera system detects the reference point, and comparingthe position of the reference point with the memorized position of thereference point with the logical management DP system and determining anoffset when a deviation exists.
 17. Method according to claim 16,characterized in that the container yard has several reference points,which can be detected by the cameras of the stacker crane.
 18. Methodaccording to claim 15 for adjusting the position of the at least onecalibrated camera, which is arranged on the stacker crane includingdefining an absolute length measuring system for detecting the positionof the stacker crane, characterized in that the container yard has asuper-reference point and said at least one calibrated camera isarranged on the stacker crane that can be adjusted relative to it bymeans of the super-reference point.
 19. Method according to claim 1,wherein the transport vehicle or the container being unloaded isidentified by means of a camera system.
 20. Method according to claim19, wherein said detecting the coordinates of the identification pointsof the loading platform or the identification points of the containercomprises providing a user-defined interface on a monitor screen of thelogistical management DP system, and selecting by an operator of theidentification points of the loading platform or the identificationpoints of the container with a marking mechanism on the user-definedinterface.
 21. Method according to claim 20, including automaticallydetecting the coordinates of the identification points of the loadingplatform or the identification points of the container by a computersystem and transferring the coordinates to the logistical management DPsystem.
 22. Method according to claim 21, wherein said automaticallydetecting of the coordinates of the loading platform of the transportvehicle occurs in its loading and unloading zone and that of thecoordinates of the loading platform of the container occurs in itsloading and unloading zone.
 23. Method according to claim 22, whereinthe automatically detecting of the coordinates of the loading platformof the transport vehicle or the coordinates of the container occurs inthe identification zone.
 24. Method according to claim 23, wherein thevertical position of the loading platform and the point of intersectionof the diagonals of the identification points of the loading platform orthe vertical position of the upper edge of the identification points ofthe container and the point of intersection of the diagonals of theidentification points of the container describe the relative targetposition of the container.
 25. Method according to claim 24, wherein theposition coordinate is described by the absolute target position of thecontainer or of the load suspension device, which is composed of thecoordinates of the transport vehicle located in the parking position asdetected by means of a camera and the relative target position of thecontainer or of the load suspension device.
 26. Method according toclaim 25, including moving the stacker crane into reach of the loadingplatform or of the container in such a way that the point ofintersection of the diagonals of the fastener of the container or theload suspension device stands plumb above the point of intersection ofthe diagonals of the fastener of the loading platform or the container.27. Method according to claim 26, including providing a seconduser-defined interface, said second user defined interface having fourquadrants, each representing a pair of fasteners, and each pair consistsof one fastener of the loading platform or of the container, projectedby an image of the camera system, and of the coordinated fastener of thecontainer or the load suspension device, projected by a superimposing ofa computer-calculated contour of the container or of the load suspensionmeans and of the fastener of the container or of the load suspensionmeans onto the image.
 28. Method according to claim 27, includingdetermining any deviation in position of the container being loaded fromthe position of the loading platform or the position of the loadsuspension device from the position of the container being unloaded inthe logistical management DP system for a fine-tuned positioning, byproviding the second user-defined interface of logistical managementwith a second marking mechanism, wherein the operator selects at leastone identification point of the loading platform or of the containerwith said second marking mechanism.
 29. Method according to claim 28,including providing a fine positioning computer system and automaticallyrecognizing any deviation in position of the container being loaded fromthe position of the loading platform or in the position of the loadsuspension device from the position of the container being unloaded withsaid fine positioning computer system.
 30. Method according to claim 29,wherein a deviation in position of the container being loaded from theposition of the loading platform of the container or in the position ofthe load suspension device from the container being unloaded, the loadsuspension device is rotated so that the fastener of the containerstands plumb above the fastener of the loading platform, or the fastenerof the load suspension device stands plumb above the fastener of thecontainer.
 31. Method according to claim 30, including setting down andreleasing of the container from the load suspension device or thesetting down of the load suspension device of the stacker crane onto thecontainer by the operator until the fasteners mate with each other. 32.Method according to claim 31, including adjusting the position of astacker crane in a container storage space, said adjusting the positioncomprising providing a camera system having at least one calibratedcamera fastened on the trolley of the stacker crane for detection of theposition of containers being handled, with an absolute length measuringsystem to detect the position of the stacker crane, positioning thestacker crane travels above a reference point arranged at any givenposition within the container yard, so that said at least one calibratedcamera of the camera system detects the reference point, and comparingthe position of the reference point with the memorized position of thereference point with the logical management DP system and determining anoffset when a deviation exists.
 33. Method according to claim 32,characterized in that the container yard has several reference points,which can be detected by the cameras of the stacker crane.
 34. Methodaccording to claim 33 for adjusting the position of the at least onecalibrated camera, which is arranged on the stacker crane includingdefining an absolute length measuring system for detecting the positionof the stacker crane, characterized in that the container yard has asuper-reference point and said at least one calibrated camera isarranged on the stacker crane that can be adjusted relative to it bymeans of the super-reference point.
 35. Method according to claim 1,wherein said detecting the coordinates of the identification points ofthe loading platform or the identification points of the containercomprises providing a user-defined interface on a monitor screen of thelogistical management DP system, and selecting by an operator of theidentification points of the loading platform or the identificationpoints of the container with a marking mechanism on the user-definedinterface.
 36. Method according to claim 1, including automaticallydetecting the coordinates of the identification points of the loadingplatform or the identification points of the container by a computersystem and transferring the coordinates to the logistical management DPsystem.
 37. Method according to claim 1, wherein said automaticallydetecting of the coordinates of the loading platform of the transportvehicle occurs in its loading and unloading zone and that of thecoordinates of the loading platform of the container occurs in itsloading and unloading zone.
 38. Method according to claim 1, wherein theautomatically detecting of the coordinates of the loading platform ofthe transport vehicle or the coordinates of the container occurs in theidentification zone.
 39. Method according to claim 1, wherein thevertical position of the loading platform and the point of intersectionof the diagonals of the identification points of the loading platform orthe vertical position of the upper edge of the identification points ofthe container and the point of intersection of the diagonals of theidentification points of the container describe the relative targetposition of the container.
 40. Method according to claim 1, wherein theposition coordinate is described by the absolute target position of thecontainer or of the load suspension device, which is composed of thecoordinates of the transport vehicle located in the parking position asdetected by means of a camera and the relative target position of thecontainer or of the load suspension device.
 41. Method according toclaim 1, including moving the stacker crane into reach of the loadingplatform or of the container in such a way that the point ofintersection of the diagonals of the fastener of the container or theload suspension device stands plumb above the point of intersection ofthe diagonals of the fastener of the loading platform or the container.42. Method according to claim 1, including providing a seconduser-defined interface, said second user defined interface having fourquadrants, each representing a pair of fasteners, and each pair consistsof one fastener of the loading platform or of the container, projectedby an image of the camera system, and of the coordinated fastener of thecontainer or the load suspension device, projected by a superimposing ofa computer-calculated contour of the container or of the load suspensionmeans and of the fastener of the container or of the load suspensionmeans onto the image.
 43. Method according to claim 1, includingdetermining any deviation in position of the container being loaded fromthe position of the loading platform or the position of the loadsuspension device from the position of the container being unloaded inthe logistical management DP system for a fine-tuned positioning, byproviding the second user-defined interface of logistical managementwith a second marking mechanism, wherein the operator selects at leastone identification point of the loading platform or of the containerwith said second marking mechanism.
 44. Method according to claim 1,including providing a fine positioning computer system and automaticallyrecognizing any deviation in position of the container being loaded fromthe position of the loading platform or in the position of the loadsuspension device from the position of the container being unloaded withsaid fine positioning computer system.
 45. Method according to claim 1,wherein a deviation in position of the container being loaded from theposition of the loading platform of the container or in the position ofthe load suspension device from the container being unloaded, the loadsuspension device is rotated so that the fastener of the containerstands plumb above the fastener of the loading platform, or the fastenerof the load suspension device stands plumb above the fastener of thecontainer.
 46. Method according to claim 1, including setting down andreleasing of the container from the load suspension device or thesetting down of the load suspension device of the stacker crane onto thecontainer by the operator until the fasteners mate with each other. 47.Method according to claim 1, including adjusting the position of astacker crane in a container storage space, said adjusting the positioncomprising providing a camera system having at least one calibratedcamera fastened on the trolley of the stacker crane for detection of theposition of containers being handled, with an absolute length measuringsystem to detect the position of the stacker crane, positioning thestacker crane travels above a reference point arranged at any givenposition within the container yard, so that said at least one calibratedcamera of the camera system detects the reference point, and comparingthe position of the reference point with the memorized position of thereference point with the logical management DP system and determining anoffset when a deviation exists.
 48. Method according to claim 47,characterized in that the container yard has several reference points,which can be detected by the cameras of the stacker crane.
 49. Methodaccording to claim 1 for adjusting the position of the at least onecalibrated camera, which is arranged on the stacker crane includingdefining an absolute length measuring system for detecting the positionof the stacker crane, characterized in that the container yard has asuper-reference point and said at least one calibrated camera isarranged on the stacker crane that can be adjusted relative to it bymeans of the super-reference point.
 50. Method according to claim 2,wherein said detecting the coordinates of the identification points ofthe loading platform or the identification points of the containercomprises providing a user-defined interface on a monitor screen of thelogistical management DP system, and selecting by an operator of theidentification points of the loading platform or the identificationpoints of the container with a marking mechanism on the user-definedinterface.
 51. Method according to claim 2, including automaticallydetecting the coordinates of the identification points of the loadingplatform or the identification points of the container by a computersystem and transferring the coordinates to the logistical management DPsystem.
 52. Method according to claim 2, wherein said automaticallydetecting of the coordinates of the loading platform of the transportvehicle occurs in its loading and unloading zone and that of thecoordinates of the loading platform of the container occurs in itsloading and unloading zone.
 53. Method according to claim 2, wherein theautomatically detecting of the coordinates of the loading platform ofthe transport vehicle or the coordinates of the container occurs in theidentification zone.
 54. Method according to claim 2, wherein thevertical position of the loading platform and the point of intersectionof the diagonals of the identification points of the loading platform orthe vertical position of the upper edge of the identification points ofthe container and the point of intersection of the diagonals of theidentification points of the container describe the relative targetposition of the container.
 55. Method according to claim 2, wherein theposition coordinate is described by the absolute target position of thecontainer or of the load suspension device, which is composed of thecoordinates of the transport vehicle located in the parking position asdetected by means of a camera and the relative target position of thecontainer or of the load suspension device.
 56. Method according toclaim 2, including moving the stacker crane into reach of the loadingplatform or of the container in such a way that the point ofintersection of the diagonals of the fastener of the container or theload suspension device stands plumb above the point of intersection ofthe diagonals of the fastener of the loading platform or the container.57. Method according to claim 2, including providing a seconduser-defined interface, said second user defined interface having fourquadrants, each representing a pair of fasteners, and each pair consistsof one fastener of the loading platform or of the container, projectedby an image of the camera system, and of the coordinated fastener of thecontainer or the load suspension device, projected by a superimposing ofa computer-calculated contour of the container or of the load suspensionmeans and of the fastener of the container or of the load suspensionmeans onto the image.
 58. Method according to claim 2, includingdetermining any deviation in position of the container being loaded fromthe position of the loading platform or the position of the loadsuspension device from the position of the container being unloaded inthe logistical management DP system for a fine-tuned positioning, byproviding the second user-defined interface of logistical managementwith a second marking mechanism, wherein the operator selects at leastone identification point of the loading platform or of the containerwith said second marking mechanism.
 59. Method according to claim 2,including providing a fine positioning computer system and automaticallyrecognizing any deviation in position of the container being loaded fromthe position of the loading platform or in the position of the loadsuspension device from the position of the container being unloaded withsaid fine positioning computer system.
 60. Method according to claim 2,wherein a deviation in position of the container being loaded from theposition of the loading platform of the container or in the position ofthe load suspension device from the container being unloaded, the loadsuspension device is rotated so that the fastener of the containerstands plumb above the fastener of the loading platform, or the fastenerof the load suspension device stands plumb above the fastener of thecontainer.
 61. Method according to claim 2, including setting down andreleasing of the container from the load suspension device or thesetting down of the load suspension device of the stacker crane onto thecontainer by the operator until the fasteners mate with each other. 62.Method according to claim 2, including adjusting the position of astacker crane in a container storage space, said adjusting the positioncomprising providing a camera system having at least one calibratedcamera fastened on the trolley of the stacker crane for detection of theposition of containers being handled, with an absolute length measuringsystem to detect the position of the stacker crane, positioning thestacker crane travels above a reference point arranged at any givenposition within the container yard, so that said at least one calibratedcamera of the camera system detects the reference point, and comparingthe position of the reference point with the memorized position of thereference point with the logical management DP system and determining anoffset when a deviation exists.
 63. Method according to claim 62,characterized in that the container yard has several reference points,which can be detected by the cameras of the stacker crane.
 64. Methodaccording to claim 2 for adjusting the position of the at least onecalibrated camera, which is arranged on the stacker crane includingdefining an absolute length measuring system for detecting the positionof the stacker crane, characterized in that the container yard has asuper-reference point and said at least one calibrated camera isarranged on the stacker crane that can be adjusted relative to it bymeans of the super-reference point.